On the generalized Chaplygin integral
The author considers the motion of a rotationally symmetric heavy rigid body in contact with a solid surface without sliding and obtains conditions for the existence of a Chaplygin-type integral. These conditions are valid, in particular, in the case of motion of a nonhomogeneous dynamically symmetric sphere along a perfectly rough plane and along an internal surface of a sphere.
scientific article; zbMATH DE number 1746545